Daniel Haehn PRO
Hi, I am a biomedical imaging and visualization researcher who investigates how the study of brain connectivity and machine perception can help advance the understanding of biologically inspired artificial intelligence.
Assignment 5
Meet with me
in November
10 minutes
Wednesday lecture is remote!!!
Tuesday 10am via ZOOM!
That is tomorrow!!!
Guest Lecture Monday 10/31!
Monday 11/07/2022
Wednesday 11 / 09 / 2022
Assignment 6
Due 10 / 26
Environment
for Assignments
6
7
8
9
10
Robot
Animated Robot
Robot Crowd
Geometry, Materials, Lighting
glTF
6
Robot
Scene Graph
Quaternions
Skeletons
Object Oriented
Slerp
Animations
Textures
Anaglyph
6
Robot
Scene
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
Scene Graph is a Tree-like Hierarchy!
*
*
*
Head
Neck
Torso
Lower Arm
Upper Arm
Hand
Upper Arm
Lower Arm
Hand
Upper Leg
Upper Leg
Lower Leg
Lower Leg
Foot
Foot
L
L
L
R
R
R
L
L
L
R
R
R
Head
x y z
World Frame
Head
Y
X
Object Frame
Neck
Torso
Upper Arm
Lower Arm
Hand
neck.position.y = -10;
torso.position.y = -30;
-10
-40
left_upper_arm.position.y = -5;
left_upper_arm.position.x = 5;
left_lower_arm.position.y = -15;
left_lower_arm.position.x = 5;
left_hand.position.y = -5;
left_hand.position.x = 5;
Position is relative to parent!
Head
Upper Arm
Lower Arm
Hand
q
q (0, 0, 0, 1)
Identity
X
Head
Upper Arm
q
q (0, 0, 0, 1)
Identity
X
q2 (Math.sin(T/2),
0,
0,
Math.cos(T/2))
Rotate 180° in X
T = Math.PI
q
q2
Arm down
Arm up
Time
Frames
Keyframe 2
Keyframe 1
slerp Interpolation
<html>
<head>
<meta charset="UTF-8" />
<style>
html, body {
background-color:#000;
margin: 0;
padding: 0;
height: 100%;
overflow: hidden !important;
background-image: url(sky.jpg);
background-repeat: no-repeat;
background-size: 100% 100%;
}
</style>
<script src="https://threejs.org/build/three.min.js" type="text/javascript"></script>
<script src="https://threejs.org/examples/js/controls/TrackballControls.js" type="text/javascript"></script>
<script src="https://threejs.org/examples/js/effects/AnaglyphEffect.js" type="text/javascript"></script>
<script>
var scene, camera, renderer, ambientLight, light, controls;
var floor;
window.onload = function() {
scene = new THREE.Scene();
var fov = 60;
var ratio = window.innerWidth / window.innerHeight;
var zNear = 1;
var zFar = 10000;
camera = new THREE.PerspectiveCamera(fov, ratio, zNear, zFar);
camera.position.set( 0, 0, 500);
renderer = new THREE.WebGLRenderer({ alpha: true });
renderer.setSize( window.innerWidth, window.innerHeight );
document.body.appendChild( renderer.domElement );
ambientLight = new THREE.AmbientLight();
scene.add( ambientLight );
light = new THREE.DirectionalLight( 0xffffff, 5.0 );
light.position.set( 10, 100, 10 );
scene.add( light );
var floorTexture = new THREE.TextureLoader().load( 'board.jpg' );
var floorGeometry = new THREE.PlaneBufferGeometry( 1000, 1000 );
var floorMaterial = new THREE.MeshBasicMaterial( {
map: floorTexture,
side: THREE.DoubleSide
} );
floor = new THREE.Mesh( floorGeometry, floorMaterial );
floor.position.y = -100;
floor.rotateX(-30);
scene.add( floor );
controls = new THREE.TrackballControls( camera, renderer.domElement );
// ROBOT GOES HERE!
animate();
};
function animate() {
requestAnimationFrame( animate );
// TODO
controls.update();
renderer.render( scene, camera );
};
</script>
</head>
<body></body>
</html>submit your music
Lecture 20
By Daniel Haehn
Lecture 20
Slides for CS460 Computer Graphics at UMass Boston. See https://cs460.org!
